Guiding End-to-End Driving Models with Endpoint-Constrained Trajectory Optimization
Endpoint-Constrained Optimization (ECO), a lightweight postprocessing layer that anchors the trajectory to the vehicle's executed history, preserves the policy's predicted endpoint, and reshapes the intermediate waypoints to improve feasibility is introduced.
Brayden Zhang, Mahsa Golchoubian, Igor Gilitschenski et al.
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